*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#include "ao_log.h"
#include "ao_product.h"
-static __pdata uint16_t ao_telemetry_interval;
+static uint16_t ao_telemetry_interval;
#if HAS_RADIO_RATE
-static __xdata uint16_t ao_telemetry_desired_interval;
+static uint16_t ao_telemetry_desired_interval;
#endif
/* TeleMetrum v1.0 just doesn't have enough space to
#ifdef SIMPLIFY
#define ao_telemetry_time time
-#define RDF_SPACE __pdata
+#define RDF_SPACE
#else
-#define RDF_SPACE __xdata
-static __pdata uint16_t ao_telemetry_time;
+#define RDF_SPACE
+static uint16_t ao_telemetry_time;
#endif
#if HAS_RDF
#endif
#if HAS_APRS
-static __pdata uint16_t ao_aprs_time;
+static uint16_t ao_aprs_time;
#include <ao_aprs.h>
#endif
#define AO_SEND_MEGA 1
#endif
-#if defined (TELEMETRUM_V_2_0)
+#if defined (TELEMETRUM_V_2_0) || defined (TELEMETRUM_V_3_0)
#define AO_SEND_METRUM 1
#endif
#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELENANO
#endif
-static __xdata union ao_telemetry_all telemetry;
+static union ao_telemetry_all telemetry;
+
+static void
+ao_telemetry_send(void)
+{
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_delay(1);
+}
#if defined AO_TELEMETRY_SENSOR
/* Send sensor packet */
static void
ao_send_sensor(void)
{
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
telemetry.generic.tick = packet->tick;
telemetry.generic.type = AO_TELEMETRY_SENSOR;
telemetry.sensor.accel_minus_g = 0;
#endif
- ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_send();
}
#endif
static void
ao_send_mega_sensor(void)
{
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
telemetry.generic.tick = packet->tick;
- telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
+#if HAS_BMX160
+ telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_BMX160;
+#else
+#if HAS_MPU6000 || HAS_MPU9250
+ telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_MPU;
+#else
+#error unknown IMU
+#endif
+#endif
-#if HAS_MPU6000
+#if HAS_GYRO
telemetry.mega_sensor.orient = ao_sample_orient;
#endif
telemetry.mega_sensor.accel = ao_data_accel(packet);
#if HAS_HMC5883
telemetry.mega_sensor.mag_x = packet->hmc5883.x;
- telemetry.mega_sensor.mag_y = packet->hmc5883.y;
telemetry.mega_sensor.mag_z = packet->hmc5883.z;
+ telemetry.mega_sensor.mag_y = packet->hmc5883.y;
#endif
- ao_radio_send(&telemetry, sizeof (telemetry));
+#if HAS_MPU9250
+ telemetry.mega_sensor.accel_x = packet->mpu9250.accel_x;
+ telemetry.mega_sensor.accel_y = packet->mpu9250.accel_y;
+ telemetry.mega_sensor.accel_z = packet->mpu9250.accel_z;
+
+ telemetry.mega_sensor.gyro_x = packet->mpu9250.gyro_x;
+ telemetry.mega_sensor.gyro_y = packet->mpu9250.gyro_y;
+ telemetry.mega_sensor.gyro_z = packet->mpu9250.gyro_z;
+
+ telemetry.mega_sensor.mag_x = packet->mpu9250.mag_x;
+ telemetry.mega_sensor.mag_z = packet->mpu9250.mag_z;
+ telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y;
+#endif
+
+#if HAS_BMX160
+ telemetry.mega_sensor.accel_x = packet->bmx160.acc_x;
+ telemetry.mega_sensor.accel_y = packet->bmx160.acc_y;
+ telemetry.mega_sensor.accel_z = packet->bmx160.acc_z;
+
+ telemetry.mega_sensor.gyro_x = packet->bmx160.gyr_x;
+ telemetry.mega_sensor.gyro_y = packet->bmx160.gyr_y;
+ telemetry.mega_sensor.gyro_z = packet->bmx160.gyr_z;
+
+ telemetry.mega_sensor.mag_x = packet->bmx160.mag_x;
+ telemetry.mega_sensor.mag_z = packet->bmx160.mag_z;
+ telemetry.mega_sensor.mag_y = packet->bmx160.mag_y;
+#endif
+
+ ao_telemetry_send();
}
-static __pdata int8_t ao_telemetry_mega_data_max;
-static __pdata int8_t ao_telemetry_mega_data_cur;
+static int8_t ao_telemetry_mega_data_max;
+static int8_t ao_telemetry_mega_data_cur;
/* Send mega data packet */
static void
ao_send_mega_data(void)
{
if (--ao_telemetry_mega_data_cur <= 0) {
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
uint8_t i;
telemetry.generic.tick = packet->tick;
telemetry.mega_data.speed = ao_speed;
telemetry.mega_data.height = ao_height;
- ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
+ ao_telemetry_send();
}
}
#endif /* AO_SEND_MEGA */
static void
ao_send_metrum_sensor(void)
{
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
telemetry.generic.tick = packet->tick;
telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
telemetry.metrum_sensor.sense_a = packet->adc.sense_a;
telemetry.metrum_sensor.sense_m = packet->adc.sense_m;
- ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_send();
}
-static __pdata int8_t ao_telemetry_metrum_data_max;
-static __pdata int8_t ao_telemetry_metrum_data_cur;
+static int8_t ao_telemetry_metrum_data_max;
+static int8_t ao_telemetry_metrum_data_cur;
/* Send telemetrum data packet */
static void
ao_send_metrum_data(void)
{
if (--ao_telemetry_metrum_data_cur <= 0) {
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
telemetry.generic.tick = packet->tick;
telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
telemetry.metrum_data.accel_minus_g = 2;
#endif
- ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_metrum_data_cur = ao_telemetry_metrum_data_max;
+ ao_telemetry_send();
}
}
#endif /* AO_SEND_METRUM */
static void
ao_send_mini(void)
{
- __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
telemetry.generic.tick = packet->tick;
- telemetry.generic.type = AO_TELEMETRY_MINI;
+ telemetry.generic.type = AO_SEND_MINI;
telemetry.mini.state = ao_flight_state;
telemetry.mini.ground_pres = ao_ground_pres;
- ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_send();
}
#endif /* AO_SEND_MINI */
-static __pdata int8_t ao_telemetry_config_max;
-static __pdata int8_t ao_telemetry_config_cur;
+static int8_t ao_telemetry_config_max;
+static int8_t ao_telemetry_config_cur;
+static uint16_t ao_telemetry_flight_number;
+
+#ifndef ao_telemetry_battery_convert
+#define ao_telemetry_battery_convert(a) (a)
+#endif
static void
ao_send_configuration(void)
{
telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
telemetry.configuration.device = AO_idProduct_NUMBER;
-#if HAS_LOG
- telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
-#else
- telemetry.configuration.flight = ao_flight_number;
-#endif
+ telemetry.configuration.flight = ao_telemetry_flight_number;
telemetry.configuration.config_major = AO_CONFIG_MAJOR;
telemetry.configuration.config_minor = AO_CONFIG_MINOR;
#if AO_idProduct_NUMBER == 0x25 && HAS_ADC
/* TeleGPS gets battery voltage instead of apogee delay */
- telemetry.configuration.apogee_delay = ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt;
+ telemetry.configuration.apogee_delay = ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt);
#else
telemetry.configuration.apogee_delay = ao_config.apogee_delay;
telemetry.configuration.main_deploy = ao_config.main_deploy;
#endif
telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
- ao_xmemcpy (telemetry.configuration.callsign,
- ao_config.callsign,
- AO_MAX_CALLSIGN);
- ao_xmemcpy (telemetry.configuration.version,
- CODE_TO_XDATA(ao_version),
- AO_MAX_VERSION);
- ao_radio_send(&telemetry, sizeof (telemetry));
+ memcpy (telemetry.configuration.callsign,
+ ao_config.callsign,
+ AO_MAX_CALLSIGN);
+ memcpy (telemetry.configuration.version,
+ ao_version,
+ AO_MAX_VERSION);
ao_telemetry_config_cur = ao_telemetry_config_max;
+ ao_telemetry_send();
}
}
#if HAS_GPS
-static __pdata int8_t ao_telemetry_gps_max;
-static __pdata int8_t ao_telemetry_loc_cur;
-static __pdata int8_t ao_telemetry_sat_cur;
+static int8_t ao_telemetry_gps_max;
+static int8_t ao_telemetry_loc_cur;
+static int8_t ao_telemetry_sat_cur;
+
+static inline void *
+telemetry_bits(struct ao_telemetry_location *l)
+{
+ return ((uint8_t *) l) + offsetof(struct ao_telemetry_location, flags);
+}
+
+static inline int
+telemetry_size(void)
+{
+ return sizeof(struct ao_telemetry_location) - offsetof(struct ao_telemetry_location, flags);
+}
static void
ao_send_location(void)
{
telemetry.generic.type = AO_TELEMETRY_LOCATION;
ao_mutex_get(&ao_gps_mutex);
- ao_xmemcpy(&telemetry.location.flags,
- &ao_gps_data.flags,
- 27);
+ memcpy(telemetry_bits(&telemetry.location),
+ telemetry_bits(&ao_gps_data),
+ telemetry_size());
telemetry.location.tick = ao_gps_tick;
ao_mutex_put(&ao_gps_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_loc_cur = ao_telemetry_gps_max;
+ ao_telemetry_send();
}
}
telemetry.generic.type = AO_TELEMETRY_SATELLITE;
ao_mutex_get(&ao_gps_mutex);
telemetry.satellite.channels = ao_gps_tracking_data.channels;
- ao_xmemcpy(&telemetry.satellite.sats,
+ memcpy(&telemetry.satellite.sats,
&ao_gps_tracking_data.sats,
AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
ao_mutex_put(&ao_gps_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_sat_cur = ao_telemetry_gps_max;
+ ao_telemetry_send();
}
}
#endif
#if HAS_COMPANION
-static __pdata int8_t ao_telemetry_companion_max;
-static __pdata int8_t ao_telemetry_companion_cur;
+static int8_t ao_telemetry_companion_max;
+static int8_t ao_telemetry_companion_cur;
static void
ao_send_companion(void)
telemetry.companion.update_period = ao_companion_setup.update_period;
telemetry.companion.channels = ao_companion_setup.channels;
ao_mutex_get(&ao_companion_mutex);
- ao_xmemcpy(&telemetry.companion.companion_data,
+ memcpy(&telemetry.companion.companion_data,
ao_companion_data,
ao_companion_setup.channels * 2);
ao_mutex_put(&ao_companion_mutex);
- ao_radio_send(&telemetry, sizeof (telemetry));
ao_telemetry_companion_cur = ao_telemetry_companion_max;
+ ao_telemetry_send();
}
}
#endif
-void
+#if HAS_APRS
+static void
+ao_set_aprs_time(void)
+{
+ uint16_t interval = ao_config.aprs_interval;
+
+ if ((ao_gps_data.flags & AO_GPS_DATE_VALID) && interval != 0) {
+ int second = (ao_gps_data.second / interval + 1) * interval + ao_config.aprs_offset;
+ int delta;
+ if (second >= 60) {
+ second = ao_config.aprs_offset;
+ delta = second + 60 - ao_gps_data.second;
+ } else {
+ delta = second - ao_gps_data.second;
+ }
+ ao_aprs_time = ao_gps_tick + AO_SEC_TO_TICKS(delta);
+ } else {
+ ao_aprs_time += AO_SEC_TO_TICKS(ao_config.aprs_interval);
+ }
+}
+#endif
+
+static void
ao_telemetry(void)
{
uint16_t time;
while (!ao_flight_number)
ao_sleep(&ao_flight_number);
+ ao_telemetry_flight_number = ao_flight_number;
+#if HAS_LOG
+ if (ao_log_full())
+ ao_telemetry_flight_number = 0;
+#endif
telemetry.generic.serial = ao_serial_number;
for (;;) {
while (ao_telemetry_interval == 0)
#endif
#if HAS_APRS
ao_aprs_time = time;
+ ao_set_aprs_time();
#endif
while (ao_telemetry_interval) {
time = ao_time() + AO_SEC_TO_TICKS(100);
#if HAS_APRS
if (ao_config.aprs_interval != 0) {
if ((int16_t) (ao_time() - ao_aprs_time) >= 0) {
- ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
+ ao_set_aprs_time();
ao_aprs_send();
}
if ((int16_t) (time - ao_aprs_time) > 0)
#endif /* HAS_APRS */
delay = time - ao_time();
if (delay > 0) {
- ao_alarm(delay);
- ao_sleep(&telemetry);
- ao_clear_alarm();
+ ao_sleep_for(&telemetry, delay);
}
}
}
#if HAS_RADIO_RATE
/* Limit max telemetry rate based on available radio bandwidth.
*/
- static __xdata const uint16_t min_interval[] = {
+ static const uint16_t min_interval[] = {
/* [AO_RADIO_RATE_38400] = */ AO_MS_TO_TICKS(100),
/* [AO_RADIO_RATE_9600] = */ AO_MS_TO_TICKS(500),
/* [AO_RADIO_RATE_2400] = */ AO_MS_TO_TICKS(1000)
}
#endif
-__xdata struct ao_task ao_telemetry_task;
+struct ao_task ao_telemetry_task;
void
ao_telemetry_init()
projects / fw / altos / blobdiff